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  Learning Movement Primitives

Schaal, S., Peters, J., Nakanishi, J., & Ijspeert, A. (2005). Learning Movement Primitives. Robotics Research: The Eleventh International Symposium (ISRR 2003), 561-572.

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 Urheber:
Schaal, S, Autor
Peters, J1, 2, Autor           
Nakanishi, J, Autor
Ijspeert, A, Autor
Dario R. Chatila, P., Herausgeber
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Dept. Empirical Inference, Max Planck Institute for Intelligent Systems, Max Planck Society, ou_1497647              

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 Zusammenfassung: This paper discusses a comprehensive framework for modular motor control based on a recently developed theory of dynamic movement primitives (DMP). DMPs are a formulation of movement primitives with autonomous nonlinear differential equations, whose time evolution creates smooth kinematic control policies. Model-based control theory is used to convert the outputs of these policies into motor commands. By means of coupling terms, on-line modifications can be incorporated into the time evolution of the differential equations, thus providing a rather flexible and reactive framework for motor planning and execution. The linear parameterization of DMPs lends itself naturally to supervised learning from demonstration. Moreover, the temporal, scale, and translation invariance of the differential equations with respect to these parameters provides a useful means for movement recognition. A novel reinforcement learning technique based on natural stochastic policy gradients allows a general approach of improving DMPs b y trial and error learning with respect to almost arbitrary optimization criteria. We demonstrate the different ingredients of the DMP approach in various examples, involving skill learning from demonstration on the humanoid robot DB, and learning biped walking from demonstration in simulation, including self-improvement of the movement patterns towards energy efficiency through resonance tuning.

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 Datum: 2005-08
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: ISBN: 3-540-23214-1
URI: http://www-arts.sssup.it/ISRR/
DOI: 10.1007/11008941_60
BibTex Citekey: 5055
 Art des Abschluß: -

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Titel: 11th International Symposium on Robotics Research (ISRR 2003)
Veranstaltungsort: Siena, Italy
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Titel: Robotics Research: The Eleventh International Symposium (ISRR 2003)
Genre der Quelle: Zeitschrift
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Berlin, Germany : Springer
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 561 - 572 Identifikator: -